neighbourhood maps. (g) If the start and destination points are on different floors (example of Fig. 3), then
partial destination points (and partial starting points) are common stairs or elevators, depending on the user’s
preference, on each floor. The path is computed as explained before for each floor, taking into consideration the
partial points. The final path is a single vector from the start to the destination that merges all partial start and
destination points on each floor. Figure 3, from left to right, exemplifies route planning from floor 0 to an
office on floor 2, using the stairs, with all vectors linking the geometric centroids of all selected rooms.